鲁棒高阶PD型迭代学习控制器设计

Design of a Robust High-order PD*.type Iterative Learning Controller

针对具有不确定项或干扰项的重复非线性时变系统 ,提出了一种鲁棒高阶PD型迭代学习控制器 ,给出了该控制器的收敛性条件 ,证明跟踪误差界是本次迭代学习与前次迭代学习初始值之差的界和系统输出干扰项界的线性函数 .仿真与实验均表明了该方法的有效性 .

A robust high order PD type iterative learning controller is presented for a class of repetitive nonlinear time varying systems with uncertainty and disturbance.This paper gives the convergence conditions of the proposed controller and proves that the tracking error bound is a linear function of the bounds of reinitialization error and disturbance to the system.The effectiveness of the proposed controller is demonstrated by simulation and experimentation.